Related papers: Equivariant Systems Theory and Observer Design for…
In this work we apply the Poincare-Cartan formalism of the Classical Field Theory to study the systems of balance equations (balance systems). We introduce the partial k-jet bundles of the configurational bundle and study their basic…
In this paper we explore the mathematical structure of hierarchical organization in smooth dynamical systems. We start by making precise what we mean by a level in a hierarchy, and how the higher le vels need to respect the dynamics on the…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
A finite-dimensional pseudo-unitary framework is set up for describing the dynamics of free elementary particles in a purely relativistic quantum mechanical way. States of any individual particles or antiparticles are defined as suitably…
This paper presents a generalisation of Sylvester's law of inertia to real non-degenerate quadratic forms on a fixed real vector bundle over a connected locally connected paracompact Hausdorff space. By interpreting the classical inertia as…
We begin with a short presentation of the basic concepts related to Lie groupoids and Lie algebroids, but the main part of this paper deals with Lie algebroids. A Lie algebroid over a manifold is a vector bundle over that manifold whose…
Covariant integral quantisation using coherent states for semidirect product groups is studied and applied to the motion of a particle on the circle. In the present case the group is the Euclidean group E$(2)$. We implement the quantisation…
Gauge-invariant systems in unconstrained configuration and phase spaces, equivalent to second-class constraints systems upon a gauge-fixing, are discussed. A mathematical pendulum on an $n-1$-dimensional sphere $S^{n-1}$ as an example of a…
This paper proposes a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for autonomous nonlinear systems. The design of a KKL observer involves finding an injective map that transforms the system state into…
In this study, we generalize double tangent bundles to double jet bundles. We present a secondary vector bundle structure on a 1-jet of a vector bundle. We show that 1-jet of a vector bundle carries two vector bundle structures, namely…
We describe a method to analyze and decompose the dynamics of a control system on a Lie group subject to symmetries. The method is based on the concept of generalized Young symmetrizers of representation theory. It naturally applies to the…
We explore the group theoretical underpinning of noncommutative quantum mechanics for a system moving on the two-dimensional plane. We show that the pertinent groups for the system are the two-fold central extension of the Galilei group in…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
Geometric Invariant Theory gives a method for constructing quotients for group actions on algebraic varieties which in many cases appear as moduli spaces parametrizing isomorphism classes of geometric objects (vector bundles, polarized…
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the second-order needle variations of optimal control---as the basis for choosing each control response to the current…
General covariance is a crucial notion in the study of field theories in curved spacetime. A field theory defined with respect to a semi-Riemannian metric is generally covariant if two metrics which are related by a diffeomorphism produce…
We apply an operator-theoretic viewpoint to a class of non-smooth dynamical systems that are exposed to event-triggered state resets. The considered benchmark problem is that of a pendulum which receives a downward kick under certain fixed…
A gauge theory is associated with a principal bundle endowed with a connection permitting to define horizontal lifts of paths. The horizontal lifts of surfaces cannot be defined into a principal bundle structure. An higher gauge theory is…
We introduce the notion of an action of a discrete or compact quantum group on an operator system, and study equivariant operator system injectivity. We then prove a duality result that relates equivariant injectivity with dual injectivity…